CN102133150B - Pedal type lower limb rehabilitation training device - Google Patents
Pedal type lower limb rehabilitation training device Download PDFInfo
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- CN102133150B CN102133150B CN 201110039315 CN201110039315A CN102133150B CN 102133150 B CN102133150 B CN 102133150B CN 201110039315 CN201110039315 CN 201110039315 CN 201110039315 A CN201110039315 A CN 201110039315A CN 102133150 B CN102133150 B CN 102133150B
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Abstract
The invention discloses a pedal type lower limb rehabilitation training device comprising two groups of pedal rotating mechanisms, a knee-hip joint moving mechanism and an ankle joint moving mechanism. Each pedal rotating mechanism comprises a pedal and a pedal shaft, wherein one end of the pedal shaft is connected with the pedal, the other end of the pedal shaft is connected with a leg-knee-hip joint moving mechanism and the ankle joint moving mechanism. The knee-hip joint moving mechanism comprises a central shaft, a transmission wheel and two connecting rods, wherein the two connecting rods are same in structure and connecting mode, and are symmetrically arranged relative to the central point of the central shaft. The ankle joint moving mechanism comprises a left sleeve, a right sleeve, an input transmission mechanism, a left transmission mechanism, a right transmission mechanism and two groups of output transmission mechanisms, wherein the transmission directions of the left transmission mechanism and the right transmission mechanism are opposite. The device realizes the transmission that a knee-hip joint and an ankle joint can move around the same central line, realizes the positive and passive rehabilitation training of six joints of a lower limb of a patient, has a compact structure, high space utilization, and accurate control, and is easy to realize modularization of the device.
Description
Technical field
The invention belongs to the rehabilitation medical instrument field, relate to a kind of pedal type lower limb rehabilitation training device, be specifically related to a kind of pedal type lower limb rehabilitation training device of the leg exercise dysfunction for causing because of disease, lower limb hemiplegia, various damages etc.
Background technology
Development along with society, the limb movement disturbance patient that aged tendency of population and various diseases, accident etc. cause is increasing, because the dysfunction that the factors such as contingency, birth defect, disease, war and organism aging process produce or disabled patient are badly in need of obtaining effective medical rehabilitation.Large quantity research discovery, rehabilitation training can promote central nervous system's plasticity and function restructuring, farthest recover or compensatory limbs of patient original function, realize that the patient takes care of oneself to greatest extent, improve the quality of living.
In the actual life, the device that is used for lower limb rehabilitation training is existing a lot, but most of apparatus structure is complicated, space utilization is unreasonable, the degree of modularity is low, manufacturing cost is high, simultaneously can only be with Passive Mode work, i.e. device drive human body lower limbs moves, a small amount of device can be with aggressive mode work, and the human body lower limbs that namely returns to a certain degree initiatively moves.Even if some device can be realized active exercise, but degree of freedom is on the low side again, and the important joint motions of some of patient can not get effectively training and correct.
Summary of the invention
The purpose of this invention is to provide a kind of compact conformation, parts Standardization, can six joints of rehabilitation lower limb (left ankle joint, left knee joint, left hip joint, right ankle joint, right knee joint, right hip joint) and realize the pedal type lower limb rehabilitation training device that main passive exercise combines, thereby reduce cost, save the space, effectively the patient carried out rehabilitation training.
Pedal type lower limb rehabilitation training device provided by the present invention comprises pedal rotating mechanism, knee joint hip joint motion and ankle arthrosis motion; Described pedal rotating mechanism comprises: pedal and pedal shaft, and pedal shaft one end is connected with pedal, and the other end is connected with the ankle arthrosis motion with knee joint hip joint motion, and described pedal rotating mechanism is two groups; Described knee joint hip joint motion comprises: axis, drive and two connecting rods, drive is fixedly installed on the centre position of axis, one end of connecting rod is fixedly connected with the end of axis, the other end of connecting rod has a stomidium, pedal shaft passes stomidium and connecting rod is flexibly connected, two bar linkage structures are identical with connected mode, and the central point of axis is arranged relatively; Described ankle arthrosis motion comprises: left sleeve, right sleeve, input driver structure, Left Drive mechanism, right drive mechanism and two groups of output drive mechanisms; Left, right sleeve is placed in respectively the axis two ends and can rotates around axis, the left sleeve right-hand member is connected with the driven end of Left Drive mechanism, the left sleeve left end is connected with the drive end of one group of output drive mechanism, right sleeve left end is connected with the driven end of right drive mechanism, right sleeve right-hand member is connected with the drive end of another group output drive mechanism, a described left side, the transmission direction of right drive mechanism is opposite, driven end while and the Left Drive mechanism of input driver structure, the drive end of right drive mechanism connects, the driven end of described output drive mechanism is fixedly connected with the axle head of pedal shaft away from pedal, described input driver structure, Left Drive mechanism, right drive mechanism and two groups of output drive mechanisms can both positive and negative both direction transmissions.
Described pedal type lower limb rehabilitation training device, it is further characterized in that:
Left Drive mechanism is comprised of driven gear and the driving gear of mutual external toothing, right drive mechanism is by forming with the intermeshing driven synchronous pulley of Timing Belt and active synchronization belt wheel, the input driver structure is comprised of intermeshing worm gear and worm screw, driving gear, active synchronization belt wheel and worm gear are fixedly connected on the same lower shaft, driving gear, active synchronization belt wheel lay respectively at the worm gear both sides, worm screw is by motor-driven, and 180 ° of motor revolutions are reverse.The gear ratio of left and right drive mechanism is 1.5:1.
The output drive mechanism is by forming with the intermeshing active synchronization belt wheel of Timing Belt and driven synchronous pulley.The gear ratio of output drive mechanism is 1:1.
Pedal shaft is connected with pedal by flat key, holding screw, and flat key has connected radial location to this, and holding screw has connected axial location to this.
The end of described axis is screw thread and cone square column structure, and the end of connecting rod is countersunk head cone square hole structure, and both are connected, and pass through fastening nuts.
Be provided with two axle head location divisions on the axis, described axle head location division is comprised of the holding screw of locking back-up ring and screw-in locking back-up ring.
Left and right sides sleeve is connected with axis by bearing, and bearing is positioned at the sleeve two ends, wherein is used for the axial inner ring of left bearing of location left sleeve by location, axle head location division, and the outer ring is by step location in the sleeve; Be used for the axial inner ring of right bearing of location left sleeve by axis step location, the outer ring is by step location in the sleeve.The connection locate mode of right sleeve and axis and left sleeve and axis to be connected locate mode identical.
In the middle of middle, the right sleeve of left sleeve, the lower shaft two axial ends is provided be used to the location bearing of locating whole device.
The present invention is owing to taking above technical scheme, and it has the following advantages:
1. apparatus of the present invention are fixedly connected with drive, drive both sides active link two sleeves in the middle of adopting axle, two sleeve two ends are fixedly connected with respectively the mechanism form of input driver structure and output drive mechanism, realized the transmission of the motion of knee joint hip joint and ankle arthrosis motion around same centrage, realized the active-passive rehabilitation training in six joints of patient's lower limb, compact conformation, space utilization is abundant, precise control.
2. the part of apparatus of the present invention more than 85% is standard component, is easy to modularity, batch production, the renewal upgrading of implement device, reduced cost.
Description of drawings
Fig. 1 is the schematic perspective view of pedal type lower limb rehabilitation training device of the present invention;
Fig. 2 is the full sectional view of pedal shaft of the present invention and connecting rod connecting portion;
Fig. 3 is the half sectional view of sleeve of the present invention and axis connecting portion.
The specific embodiment
Describe the present invention below in conjunction with drawings and Examples.
As shown in Figure 1, pedal type lower limb rehabilitation training device comprises pedal rotating mechanism, knee joint hip joint motion and ankle arthrosis motion.
The pedal rotating mechanism comprises: pedal 9 and pedal shaft 10.Pedal shaft 10 1 ends are connected with pedal 9 by flat key 15, holding screw 16, and 15 pairs of flat keys should connect radial location, and 16 pairs of holding screws should connect axial location, and pedal shaft 10 other ends are connected with the ankle arthrosis motion with knee joint hip joint motion.The pedal rotating mechanism is two groups in this device.
Knee joint hip joint motion comprises: axis 1, drive 2 and two connecting rods 8.Drive 2 is fixedly installed on the centre position of axis 1, one end 19 of connecting rod 8 is fixedly connected with the end 18 of axis 1, the other end of connecting rod 8 has a stomidium, pedal shaft 10 passes stomidium and is flexibly connected (as shown in Figure 2) by bearing 17 and connecting rod 8, two connecting rod 8 structures are identical with connected mode, the central point of axis is arranged relatively, and drive 2 is driven by input.
The end 18 of axis is screw thread and cone square column structure, and the end 19 of connecting rod 8 is countersunk head cone square hole structure, and both are connected, and pass through fastening nuts.
Be provided with two axle head location divisions 14 on the axis 1, described axle head location division 14 is comprised of the holding screw 142 of locking back-up ring 141 and screw-in locking back-up ring 141.
The ankle arthrosis motion comprises: left sleeve 31, right sleeve 32, Left Drive mechanism, right drive mechanism, input driver structure, two groups of output drive mechanisms.As shown in Figure 3, left sleeve 31, right sleeve 32 are placed in axis 1 two ends, are connected with axis 1 by bearing, and bearing is positioned at the sleeve two ends.Wherein be used for the left bearing 131 axial inner rings of location left sleeve 31 by 14 location, axle head location division, the outer ring is by step location in the sleeve.Be used for the right bearing 132 axial inner rings of location left sleeve 31 by axis 1 step location, the outer ring is by step location in the sleeve.The connection locate mode of right sleeve 32 and axis 1 and left sleeve 31 and axis 1 to be connected locate mode identical.
Left Drive mechanism is comprised of driven gear 41 and the driving gear 42 of mutual external toothing.Right drive mechanism is by forming with Timing Belt 53 intermeshing driven synchronous pulleys 51 and active synchronization belt wheel 52.The input driver structure is comprised of intermeshing worm gear 11 and worm screw 12.
Wherein, driven gear 41 is fixedly connected with left sleeve 31 right-hand members, driven synchronous pulley 51 is fixedly connected with right sleeve 32 left ends, driving gear 42, active synchronization belt wheel 52 and worm gear 11 are fixedly connected on the same lower shaft 6, driving gear 42, active synchronization belt wheel 52 lay respectively at worm gear 11 both sides, worm screw 12 is by motor-driven, and 180 ° of motor revolutions are reverse.
The gear ratio of Left Drive mechanism and the gear ratio of right drive mechanism are 1.5:1.The worm and gear of described input driver structure is non-self-locking worm gear worm screw.
The output drive mechanism is by forming with Timing Belt 73 intermeshing active synchronization belt wheels 71 and driven synchronous pulley 72, the gear ratio of output drive mechanism is 1:1, two active synchronization belt wheels 71 of two groups of output drive mechanisms are fixedly connected with right sleeve 32 right-hand members with left sleeve 31 left ends respectively, and driven synchronous pulley 72 is fixedly connected with pedal shaft 10 axle heads.
Wherein the gear drive of Left Drive mechanism can be replaced by transmissions such as chain gear transmission, belt wheel transmission, Worm Wheel Systems, the belt wheel transmission of corresponding right drive mechanism can be replaced by transmissions such as gear drive, gear drive, chain gear transmission, the Worm Wheel System of input driver structure can be by replacements such as Spur Gear Driving, Bevel Gear Transmission, chain gear transmission or various deceleration transmission, and the belt wheel transmission of output drive mechanism can be replaced by gear drive or chain gear transmission.
Pedal type lower limb rehabilitation training device of the present invention can be located whole device by being positioned at left sleeve 31 middle, right sleeves 32 location bearings middle, lower shaft 6 two axial ends.
The present embodiment is take drive 2 as sprocket wheel, sprocket wheel connection chain driving motor, worm screw 12 connects another motor, whole device is placed on the support by left sleeve 31 middle, right sleeves 32 location bearings middle, lower shaft 6 two axial ends, the patient is sitting on wheelchair or the sick bed, foot places on the pedal 9 and to be example, illustrate six joints of pedal type lower limb rehabilitation training device realization patient's lower limb by active training.
(1) passive exercise pattern
The machine operation that drive 2 connects drives drive 2 motions, then makes circular motion by axis 1 drivening rod 8, drives pedal 9 around axis 1 revolution, realizes the nearly gait motion of lower limb, thus rehabilitation training patient knee joint and hip joint.Simultaneously, the machine operation that worm screw 12 connects, drive pedal 9 and together rotation in the connecting rod stomidium of pedal shaft 10 by input driver structure, Left Drive mechanism, right drive mechanism, output drive mechanism, because gear 41 and gear 42 are external toothings, synchronous pulley 51, synchronous pulley 52 are interior engagements with Timing Belt 53, two sleeve rotation directions are just in time opposite, thereby two pedal 9 senses of rotation are opposite, 180 ° of motor revolutions are reverse, revolution angle and the angle of rotation of pedal 9 anthropomorphic ankle arthrosis motions are controlled in real time by two motors, realize the ankle arthrosis rehabilitation training.
(2) active training pattern
Two motor power down are thrown off, but owing to Left Drive mechanism, right drive mechanism, all both forward and reverse directions transmissions of output drive mechanism, the worm and gear of input driver structure adopts non-self-locking worm gear worm screw, the input driver structure also can the both forward and reverse directions transmission, pedal 9 is in free rotary state, axis 1 also is in free rotary state, returns to a certain degree patient people's foot and can place and carry out the training of lower limb initiative rehabilitation on the pedal 9.
The present invention is not limited to the above-mentioned specific embodiment; persons skilled in the art are according to content disclosed by the invention; can adopt other multiple specific embodiment to implement the present invention; therefore; every employing project organization of the present invention and thinking; do some simple designs that change or change, all fall into the scope of protection of the invention.
Claims (10)
1. pedal type lower limb rehabilitation training device is characterized in that: comprise pedal rotating mechanism, knee joint hip joint motion and ankle arthrosis motion,
Described pedal rotating mechanism comprises pedal (9) and pedal shaft (10), and pedal shaft (10) one ends are connected with pedal (9), and the other end is connected with the ankle arthrosis motion with knee joint hip joint motion, and described pedal rotating mechanism is two groups;
Described knee joint hip joint motion comprises axis (1), drive (2) and two connecting rods (8), drive (2) is fixedly installed on the centre position of axis (1), one end (19) of connecting rod (8) is fixedly connected with the end (18) of axis (1), the other end of connecting rod (8) has a stomidium, pedal shaft (10) passes stomidium and connecting rod (8) is flexibly connected, two connecting rods (8) structure is identical with connected mode, and the central point of axis (1) is arranged relatively;
Described ankle arthrosis motion comprises left sleeve (31), right sleeve (32), the input driver structure, Left Drive mechanism, right drive mechanism and two groups of output drive mechanisms, left, right sleeve (31,32) be placed in respectively axis (1) two ends and can rotating around axis (1), left sleeve (31) right-hand member is connected with the driven end of Left Drive mechanism, left sleeve (31) left end is connected with the drive end of one group of output drive mechanism, right sleeve (32) left end is connected with the driven end of right drive mechanism, right sleeve (32) right-hand member is connected with the drive end of another group output drive mechanism, a described left side, the transmission direction of right drive mechanism is opposite, driven end while and the Left Drive mechanism of input driver structure, the drive end of right drive mechanism connects, the driven end of described output drive mechanism is fixedly connected with described input driver structure with the axle head of pedal shaft (10) away from pedal (9), Left Drive mechanism, right drive mechanism and two groups of output drive mechanisms can both positive and negative both direction transmissions.
2. pedal type lower limb rehabilitation training device according to claim 1, it is characterized in that: Left Drive mechanism is comprised of driven gear (41) and the driving gear (42) of mutual external toothing, right drive mechanism is by forming with the first Timing Belt (53) the intermeshing first driven synchronous pulley (51) and the first active synchronization belt wheel (52), the input driver structure is comprised of intermeshing worm gear (11) and worm screw (12), driving gear (42), the first active synchronization belt wheel (52) and worm gear (11) are fixedly connected on the same lower shaft (6), driving gear (42), the first active synchronization belt wheel (52) lays respectively at worm gear (11) both sides, worm screw (12) is by motor-driven, and 180 ° of motor revolutions are reverse.
3. pedal type lower limb rehabilitation training device according to claim 1 and 2, it is characterized in that: the gear ratio of left and right drive mechanism is 1.5:1.
4. pedal type lower limb rehabilitation training device according to claim 1 and 2 is characterized in that: export drive mechanism by forming with intermeshing the second active synchronization belt wheel (71) of the second Timing Belt (73) and the second driven synchronous pulley (72).
5. pedal type lower limb rehabilitation training device according to claim 1 and 2 is characterized in that: the gear ratio of output drive mechanism is 1:1.
6. pedal type lower limb rehabilitation training device according to claim 1 and 2, it is characterized in that: pedal shaft (10) is connected with pedal (9) by flat key (15), holding screw (16), flat key (15) has connected the radial location effect to this, and holding screw (16) has connected the axial location effect to this.
7. pedal type lower limb rehabilitation training device according to claim 1 and 2, it is characterized in that: the end (18) of described axis (1) is screw thread and cone square column structure, an end (19) that is fixedly connected with end axis (1) (18) connecting rod (8) is countersunk head cone square hole structure, both are connected, and pass through fastening nuts.
8. pedal type lower limb rehabilitation training device according to claim 1 and 2, it is characterized in that: be provided with two axle head location divisions (14) on the axis (1), described axle head location division (14) is comprised of the holding screw (142) of locking back-up ring (141) and screw-in locking back-up ring (141).
9. pedal type lower limb rehabilitation training device according to claim 8, it is characterized in that: left and right sleeve (31,32) is connected with axis (1) by bearing, bearing is positioned at the sleeve two ends, wherein be used for the axial inner ring of left bearing (131) of location left sleeve (31) by axle head location division (14) location, the outer ring is by step location in the sleeve; Be used for the axial inner ring of right bearing (132) of location left sleeve (31) by axis (1) step location, the outer ring is by step location in the sleeve; The connection locate mode of right sleeve (32) and axis (1) and left sleeve (31) and axis (1) to be connected locate mode identical.
10. pedal type lower limb rehabilitation training device according to claim 2 is characterized in that: in the middle of middle, the right sleeve of described left sleeve (31) (32), lower shaft (6) two axial ends is provided be used to the location bearing of locating whole device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110039315 CN102133150B (en) | 2011-02-16 | 2011-02-16 | Pedal type lower limb rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110039315 CN102133150B (en) | 2011-02-16 | 2011-02-16 | Pedal type lower limb rehabilitation training device |
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| CN102133150A CN102133150A (en) | 2011-07-27 |
| CN102133150B true CN102133150B (en) | 2013-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110039315 Expired - Fee Related CN102133150B (en) | 2011-02-16 | 2011-02-16 | Pedal type lower limb rehabilitation training device |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102920556B (en) * | 2012-11-06 | 2015-01-28 | 佛山市顺康达医疗科技有限公司 | Human body lower limb rehabilitation training wheel chair |
| CN104784007A (en) * | 2015-04-17 | 2015-07-22 | 广西大学 | Physical therapy device used for relaxing tendons and activating collaterals of legs |
| CN105125386A (en) * | 2015-08-25 | 2015-12-09 | 广西大学 | Crus massage device |
| CN106236514B (en) * | 2016-09-29 | 2019-05-07 | 四川大学华西医院 | Rehabilitation apparatus for sickbed |
| CN110125018A (en) * | 2019-05-06 | 2019-08-16 | 山东泓瑞光电科技有限公司 | A kind of LED wafer automatic fraction collector Y-axis table assembly |
| CN110680669A (en) * | 2019-10-21 | 2020-01-14 | 上海贝氪若宝健康科技有限公司 | Machine core capable of rotating for massaging |
| CN112370735A (en) * | 2020-11-16 | 2021-02-19 | 吉林大学 | Efficient leg rehabilitation training device for neurology nursing |
| CN113082612B (en) * | 2021-05-11 | 2022-09-09 | 刘陶志 | Orthopedics medical treatment rehabilitation training device with supplementary structure of taking exercise of ankle joint |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2182616Y (en) * | 1993-06-30 | 1994-11-16 | 易洪城 | Machine for restoring function of joints of lower limbs |
| CN2815338Y (en) * | 2005-08-18 | 2006-09-13 | 哈尔滨工程大学 | Supine lying posture lower limb rehabilitation training robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2344769B (en) * | 1998-12-17 | 2000-11-22 | David Hart | Orthotic bracing walking trainer |
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2011
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2182616Y (en) * | 1993-06-30 | 1994-11-16 | 易洪城 | Machine for restoring function of joints of lower limbs |
| CN2815338Y (en) * | 2005-08-18 | 2006-09-13 | 哈尔滨工程大学 | Supine lying posture lower limb rehabilitation training robot |
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| CN102133150A (en) | 2011-07-27 |
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